Design and Application of Decoupling Cyclic MIMO Control

The design and application of cyclic control, which embraces Iterative Learning and Repetitive Control, for linear MIMO systems is presented in an algebraic framework. The algebraic framework is often used for the design of Iterative Learning Control and is also well suited for Repetitive Control. The algebraic framework allows an illustrative analysis and direct pole placement design of CC for SISO systems by diagonalization of the system matrix. MIMO systems can also be handled in this framework. However, a straight forward application of SISO designs for MIMO systems is not suggested. This approach will generally not yield a decoupling of control variables. This paper presents a decoupling cyclic MIMO control design. The design and implementation is conducted on a coupled biaxial material testing machine.